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研究生： 黃科竣
Ke-Jun Huang
論文名稱： 以無跡卡爾曼濾波器為基礎實現超級電容充電狀態、溫度及剩餘壽命之即時估測
UKF-based Estimation of the Ultracapacitor State of Charge (SOC), Temperature and Remaining Useful Life (RUL)
指導教授： 姜嘉瑞
Chia-Jui Chiang
口試委員: 蔡大翔
Dah-Shyang Tsai
黃仲欽
nono
學位類別： 碩士
Master
系所名稱： 工程學院 - 機械工程系
Department of Mechanical Engineering
論文出版年： 2016
畢業學年度： 104
語文別： 中文
論文頁數： 135
中文關鍵詞： 超級電容 、即時估測 、擴展型卡爾曼濾波器 、無跡卡爾曼濾波器 、老化模型
外文關鍵詞： Ultracapacitor, Real time estimation, EKF, UKF, Aging Model
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  •  上一筆

    • 本論文以超級電容(ultracapacitor)之等效電路、熱動態以及老化模型為基礎，應用無跡卡爾曼濾波器(unscented Kalman filter, UKF)建構估測器進行超級電容之充電狀態(state of charge, SOC)、溫度及剩餘壽命(remaining useful life, RUL) 之即時估測。論文中分別使用包含溫度及電壓效應和老化效應之兩組超級電容模型進行以無跡卡爾曼濾波器為基礎之估測器開發， 並分別以不同操作溫度、充放電行程及老化情況進行估測器之實驗驗證。測試結果顯示，在處理系統中非線性的問題上，無跡卡爾曼濾波器較擴展型卡爾曼濾波器(extended Kalman filter, EKF)更為有效。

    Simultaneous estimation of the state of charge (SOC), temperature and remaining useful life (RUL) of ultracapacitors is achieved in this thesis by applying the unscented Kalman filter (UKF). In implementing the UKF, two sets of ultracapacitor model are used, including one with the voltage and temperature effects and the other with the aging effect. The proposed estimation strategy is validated via experiments in various thermal conditions, charge/discharge cycles and aging processes. The results indicate that the UKF is more effective than the extended Kalman filter (EKF) in dealing with the nonlinearity in the system.

    摘要I ABSTRACT II 致謝III 目錄IV 圖目錄VII 表目錄X 1 緒論1 1.1 研究背景. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1.2 文獻回顧. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 1.2.1 等效電路模型文獻回顧. . . . . . . . . . . . . . . . . . . . . . 7 1.2.2 熱效應模型文獻回顧. . . . . . . . . . . . . . . . . . . . . . . 7 1.2.3 儲能元件老化模型文獻回顧. . . . . . . . . . . . . . . . . . . 8 1.2.4 儲能元件估測法則. . . . . . . . . . . . . . . . . . . . . . . . 9 1.3 研究目的與方法. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 1.4 研究貢獻. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 1.5 論文架構. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 2 實驗設備與軟體介紹12 2.1 元件介紹. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 2.1.1 電容器介紹. . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 2.1.2 超級電容器原理. . . . . . . . . . . . . . . . . . . . . . . . . 14 2.2 硬體設備. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 2.2.1 交流阻抗分析儀. . . . . . . . . . . . . . . . . . . . . . . . . 19 2.2.2 直流電子負載機. . . . . . . . . . . . . . . . . . . . . . . . . 21 2.2.3 可程式直流電源供應器. . . . . . . . . . . . . . . . . . . . . . 23 2.2.4 可程式恆溫試驗機. . . . . . . . . . . . . . . . . . . . . . . . 23 2.2.5 霍爾元件. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 2.2.6 電阻式溫度感應器. . . . . . . . . . . . . . . . . . . . . . . . 25 2.2.7 數據擷取系統. . . . . . . . . . . . . . . . . . . . . . . . . . 26 2.3 實驗軟體. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 2.3.1 MATLAB . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 2.3.2 Simulink . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 3 超級電容模型30 3.1 交流阻抗分析法. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 3.2 超級電容等效電路模型. . . . . . . . . . . . . . . . . . . . . . . . . . 35 3.2.1 考慮溫度及電壓效應之模型. . . . . . . . . . . . . . . . . . . 35 3.2.2 考慮老化效應之模型. . . . . . . . . . . . . . . . . . . . . . . 39 3.3 超級電容之熱動態模型及參數鑑別. . . . . . . . . . . . . . . . . . . . 47 3.4 超級電容之熱模型參數鑑別. . . . . . . . . . . . . . . . . . . . . . . 49 3.5 超級電容之老化模型. . . . . . . . . . . . . . . . . . . . . . . . . . . 50 4 卡爾曼濾波器介紹52 4.1 離散之卡爾曼濾波器. . . . . . . . . . . . . . . . . . . . . . . . . . . 52 4.2 擴展型卡爾曼濾波器. . . . . . . . . . . . . . . . . . . . . . . . . . . 60 4.3 無跡卡爾曼濾波器. . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 4.4 溫度及電壓效應之離散估測器設計. . . . . . . . . . . . . . . . . . . . 72 4.5 老化效應之離散估測器設計. . . . . . . . . . . . . . . . . . . . . . . 76 5 實驗結果82 5.1 以含溫度及電壓效應模型為基礎之估測結果. . . . . . . . . . . . . . . 82 5.1.1 絕熱狀態之即時估測. . . . . . . . . . . . . . . . . . . . . . . 82 5.1.2 常溫散熱狀態之即時估測. . . . . . . . . . . . . . . . . . . . 85 5.1.3 極低溫狀態之即時估測. . . . . . . . . . . . . . . . . . . . . . 87 5.1.4 使用NYCC 駕駛行程之即時估測. . . . . . . . . . . . . . . . 89 5.2 以含老化效應模型為基礎之估測結果. . . . . . . . . . . . . . . . . . . 92 5.2.1 使用單一循環定電流7A 充電行程之即時估測. . . . . . . . . . 93 5.2.2 使用NYCC 駕駛行程之即時估測. . . . . . . . . . . . . . . . 101 5.3 以兩種模型為基礎所建立估測器之比較. . . . . . . . . . . . . . . . . 109 5.3.1 絕熱狀態之即時估測. . . . . . . . . . . . . . . . . . . . . . . 109 5.3.2 常溫散熱狀態之即時估測. . . . . . . . . . . . . . . . . . . . 111 5.3.3 極低溫狀態之即時估測. . . . . . . . . . . . . . . . . . . . . . 113 5.3.4 使用NYCC 駕駛行程之即時估測. . . . . . . . . . . . . . . . 115 6 結論與未來展望117 6.1 結論. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117 6.2 未來展望. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118 參考文獻118

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